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include/dual_arm_control_iam Expand file tree Collapse file tree 6 files changed +376
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lines changed Original file line number Diff line number Diff line change @@ -44,7 +44,6 @@ set(H_FILES
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set (TOOLS_FILE
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${HEADERS_FOLDER} /tools/Utils.hpp
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${HEADERS_FOLDER} /tools/PdfGMR.hpp
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- ${HEADERS_FOLDER} /tools/Keyboard.h
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${HEADERS_FOLDER} /tools/KalmanFilter3DVelFromPosEstimator.hpp
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${HEADERS_FOLDER} /tools/KalmanFilter.hpp
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${HEADERS_FOLDER} /tools/FirstOrderFilter.hpp
Original file line number Diff line number Diff line change 53
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#include " dual_arm_control_iam/ThrowingDS.hpp"
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#include " dual_arm_control_iam/TossTaskParamEstimator.hpp"
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#include " dual_arm_control_iam/TossingTarget.hpp"
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- #include " dual_arm_control_iam/tools/Keyboard.h"
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#include " dual_arm_control_iam/tools/Utils.hpp"
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#define NB_ROBOTS 2 // Number of robots
@@ -80,6 +79,23 @@ struct CommandStruct {
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float nuWr0;
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};
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+ struct StateMachine {
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+ bool goHome;
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+ bool goToAttractors;
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+ bool isThrowing;
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+ bool isPlacing;
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+ bool isPlaceTossing;
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+ bool isDisturbTarget;
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+ bool releaseAndretract;
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+ int dualTaskSelector;
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+ float desVtoss;
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+ float desiredVelImp;
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+ float placingPosHeight;
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+ float releasePosY;
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+
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+ bool startlogging;
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+ };
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+
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struct SphericalPosition {
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float r;
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float theta;
@@ -351,7 +367,8 @@ class DualArmControlSim {
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double getPeriod ();
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// ---- Keyboard commands
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- void updateStatesMachines ();
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void keyboardVirtualObjectControl ();
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void keyboardReferenceObjectControl ();
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+ StateMachine getStateMachine ();
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+ void updateStateMachine (StateMachine stateMachine);
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};
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